Position Tracking During Human Walking Using an Integrated Wearable Sensing System
AbstractProgress has been made enabling expensive, high-end inertial measurement units (IMUs) to be used as tracking sensors. However, the cost of these IMUs is prohibitive to their widespread use, and hence the potential of low-cost IMUs is investigated in this study. A wearable low-cost sensing system consisting of IMUs and ultrasound sensors was developed. Core to this system is an extended Kalman filter (EKF), which provides both zero-velocity updates (ZUPTs) and Heuristic Drift Reduction (HDR). The IMU data was combined with ultrasound range measurements to improve accuracy. When a map of the environment was available, a particle filter was used to impose constraints on the possible user motions. The system was therefore composed of three subsystems: IMUs, ultrasound sensors, and a particle filter. A Vicon motion capture system was used to provide ground truth information, enabling validation of the sensing system. Using only the IMU, the system showed loop misclosure errors of 1% with a maximum error of 4–5% during walking. The addition of the ultrasound sensors resulted in a 15% reduction in the total accumulated error. Lastly, the particle filter was capable of providing noticeable corrections, which could keep the tracking error below 2% after the first few steps. View Full-Text
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Zizzo, G.; Ren, L. Position Tracking During Human Walking Using an Integrated Wearable Sensing System. Sensors 2017, 17, 2866.
Zizzo G, Ren L. Position Tracking During Human Walking Using an Integrated Wearable Sensing System. Sensors. 2017; 17(12):2866.Chicago/Turabian Style
Zizzo, Giulio; Ren, Lei. 2017. "Position Tracking During Human Walking Using an Integrated Wearable Sensing System." Sensors 17, no. 12: 2866.
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